US 10,022,862 B2 · Control-command architecture for a mobile robot using articulated limbs

Abstract

The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

Claims21

Dependent claims

A mobile robot having articulated limbs, the robot comprising:

a plurality of subsets of sensors and actuators, each subset being controlled by an electronic card, wherein a control function for at least one of the electronic cards is distributed between at least a first computer and a second computer,
said first and second computers are each unique and located on-board said robot,
said first computer is distinct from said second computer and also distinct from said at least one of the electronic cards controlling a subset of sensors and actuators, and
said first computer transmits to said at least one of the electronic cards, command messages for executing functions defined by the second computer,
said transmission being managed by a secure protocol on at least one specific bus, wherein said command messages are configured to cause said mobile robot to perform an action.

2 more elements

Dependencies are inferred from the claim text.

Facts

Application

15/082,700Filed 28 Mar 2016 · continuation

Published

US 2016/0311109 A127 Oct 2016

Granted

17 Jul 2018

Term ends

Not estimatedThe source records don’t support an estimate.

Classification11 codes

B25J 9/161
Characterised by the control system, structure, architecture: hardware, e.g. neural networks, fuzzy logic, interfaces, processor
G05B 19/4141
Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller:…
G05B 19/4148
Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller:…
G06N 3/008
Artificial life, i.e. computing arrangements simulating life: based on physical entities controlled by simulated intelligence so as to replicate…

Family

PCT/EP2009/054117Parent of this continuation · filed 8 Apr 2009

US 2016/0311109 A1Pre-grant publication · published 27 Oct 2016

Application12/736,456Parent of this continuation

US 9,327,400 B2Parent of this continuation

US 2011/0029128 A1Published application

US 10,022,862 B2This patent

From the US filing history. Foreign family members aren’t listed.

Control-command architecture for a mobile robot using articulated limbs

Life of this patent

Control-command architecture for a mobile robot using articulated limbs

Life of this patent

Abstract

Claims21